哈尔滨工程大学硕十学位论文 Abstract The underwater vehicle plays an important role in ocean development.The propulsion technology is one of the main contents of the research on underwater vehicle.The hydrofoil propulsion is a exploratory research of the new type of propulsion for micro miniature underwater vehicle.To study the theory of the hydrofoil propulsion,discuss the bionic hydrofoil manipulation,analysis the hydrodynamic performance and developed the hydrofoil propulsion test prototype, have great significance on the exploration of new type of driving method for medium and low speed micro miniature underwater vehicle,and the improvement of its propulsion efficiency and maneuvering performance. This thesis conducted the theoretical analysis and experimental research on the control technology of the hydrofoil propulsion,the theory of hydrofoil cooperation motion and the hydrodynamic performance.The main research work is as follows: Firstly,the hardware and software control system with the DSP as the core processor of the hydrofoil propulsion prototype has been developed.According to the multiple motion unit cooperation control features of"HaiRen-I",a hierarchical control method based on the host controller and the sub controller for the motion units are designed.The hardware and software control system with the DSP as the core processor has been developed.A sensor test platform for the prototype was 以 established.And the man-machine control interface was developed. Secondly,the motion principle of"HaiRen-I"prototype has been studied including four-wing collaborative movement,the hydrofoil cooperative motion, the webs cooperative motion and the stroke and azimuth cooperative motion. According to the accumulation of phase error between the right and left hydrofoil
●- h ～ 哈尔滨T程大学硕+学位论文 Abstract The underwater vehicle plays an important role in ocean development．The propulsion technology is one of the main contents of the research on underwater vehicle．The hydrofoil propulsion is a exploratory research of the new type of propulsion for micro miniature underwater vehicle．To study the theory of the hydrofoil propulsion，discuss the bionic hydrofoil manipulation，analysis the hydrodynamic performance and developed the hydrofoil propulsion test prototype， have great significance on the exploration of new type of driving method for medium and low speed micro miniature underwater vehicle，and the improvement of its propulsion efficiency and maneuvering performance． This thesis conducted the theoretical analysis and experimental research on the control technology of the hydrofoil propulsion，the theory of hydrofoil cooperation motion and the hydrodynamic performance．The main research work is as follows： Firstly，the hardware and software control system with the DSP as the core processor of the hydrofoil propulsion prototype has been developed．According to the multiple motion unit cooperation control features of“HaiRen—I”，a hierarchical control method based on the host controller and the sub controller for the motion units are designed．The hardware and software control system with the DSP as the core processor has been developed．A sensor test platform for the prototype was 儿 established．And the man—machine control interface Was developed． Secondly，the motion principle of‘'HaiRen—I’’prototype has been studied including four-wing collaborative movement，the hydrofoil cooperative motion， the webs cooperative motion and the stroke and azimuth cooperative motion． According to the accumulation of phase error between the fight and left hydrofoil
哈尔滨工程大学硕士学位论文 appears in the hydrofoil cooperative motion,a speed on-line adjustment method is provided,and carried out the validation experiment.Studying on the influence of hydrofoil stroke spin and azimuth spin phase error on the hydrofoil movement period and classifying the hydrofoil movement according to the phase error of stroke spin and azimuth spin,based on this a position close-loop control method of the hydrofoil azimuth spin was designed.And the effectiveness of this method was verified by the experiments. Thirdly,studying on the hydrodynamic performance of hydrofoil,the hydrofoil motion was simulated based on the vortex attaching on the face of hydrofoil and the wake vortex.The hydrofoil trajectory was refitted,and the curve of the stroke and azimuth spin was modified according to the experimental data, and therefore the position of the wake vortex was modified.The induced velocity of the liner vortex wire relative to arbitrary point was calculated according to the Biot-Savart method.The vertical hydrodynamic coefficients of the hydrofoil stroke spin and azimuth spin cooperative motion are calculated based on the unsteady vortex lattice method,and the results were verified. Finally experimental researches was carried out based on "HaiRen-I".The single hydrofoil unit motion experiment was conducted,in order to study the angular velocity distribution feature of motors used in stroke spin and azimuth spin.The prototype translation experiments in changing stroke and azimuth spin error and changing hydrofoil motion parameter were carried,aimed to study the influence of the stroke and azimuth spin error and the hydrofoil motion parameter to the"HaiRen-I"prototype motion performance.The regulation of the influence from the cooperation of the hydrofoil stroke and azimuth spin to the propulsion property was obtained. Keyword:hydrofoil propulsion;hierarchical control;hydrodynamic analysis; experimental research
p “ q 哈尔滨：[程大学硕士学位论文 appears in the hydrofoil cooperative motion，a speed on-line adjustment method is provided，and carried out the validation experiment．Studying on the influence of hydrofoil stroke spin and azimuth spin phase error on the hydrofoil movement period and classifying the hydrofoil movement according to the phase error of stroke spin and azimuth spin，based on this a position close-loop control method of the hydrofoil azimuth spin was designed．And the effectiveness of this method was verified by the experiments． Thirdly，studying on the hydrodynamic performance of hydrofoil，the hydrofoil motion was simulated based on the vortex attaching on the face of hydrofoil and the wake vortex．The hydrofoil trajectory Was retired，and the curve of the stroke and azimuth spin was modified according to the experimental data， and therefore the position of the wake vortex was modified．The induced velocity of the liner vortex wire relative to arbitrary point was calculated according to the Biot-Savart method．The vertical hydrodynamic coefficients of the hydrofoil stroke spin and azimuth spin cooperative motion are calculated based on the unsteady vortex lattice method，and the results were verified． Finally experimental researches was can'ied out based on“HaiRen-I”．The single hydrofoil unit motion experiment was conducted，in order to study the angular velocity distribution feature of motors used in stroke spin and azimuth spin．The prototype translation experiments in changing stroke and azimuth spin error and changing hydrofoil motion parameter were carried，aimed to study the k influence of the stroke and azimuth spin error and the hydrofoil motion parameter ．to the“HaiRen-I”prototype motion performance．The regulation of the influence 、 仔om me cooperation of me hydrofoil stroke aIld azimuth spin to the propulsion property was obtained． Keyword：hydrofoil propulsion；hierarchical control；hydrodynamic analysis； experimental research
哈尔滨工程大学硕十学位论文 目 录 摘 要 2 Abstract.. 世 目录 …6 第1章绪论 1.1引言… 1.2仿生推进理论研究现状.， 1 1.2.1仿鱼推进理论研究现状… 2 1.2.2仿翼运动理论研究现状.… .4 1.3水下仿生机器人研究现状… 6 1.4课题来源与本文研究的主要内容… …9 第2章水翼法推进试验样机控制系统研制 11 2.1引言 .11 2.2“海忍-I”试验样机简介… 11 2.3控制系统总体分析 12 23.1“海忍-控制系统总体要求 12 2.3.2水翼推进运动单元子控制器 14 2.3.3璞翼运动单元子控制器 19 2.4信息采集系统.… 19 2.5软件控制系统设计… 21 2.5.1主程序… …21 2.5.2通讯协议. .23 人 2.5.3人机界面 …25 2.6实验研究… 25 2.7本章小结 .27 第3章水翼法推进协同机理研究 .28 3.1引言… .28 3.2多翼协同运动机理分析 4.28
哈尔滨工程大学硕+学位论文 目 录 摘 要…………………………………………………………………………．2 Abstract……………………………………………………………………………………………………4 目 录……………………………………………………………………………．6 第l章绪论………………………………………………………………………l 1．1引言………………………………………………………………………………………………．．1 1．2仿生推进理论研究现状…………………………………………………．．1 1．2．1仿鱼推进理论研究现状………………………………………………2 1．2．2仿翼运动理论研究现状………………………………………………4 1．3水下仿生机器人研究现状………………………………………………．．6 1．4课题来源与本文研究的主要内容………………………………………。9 第2章水翼法推进试验样机控制系统研制…………………………………．11 2．1引言………………………………………………………………………………………………11 2．2“海忍．I”试验样机简介…………………………………………………11 2．3控制系统总体分析………………………………………………………12 2．3．1“海忍．I”控制系统总体要求…………………………………………12 2．3．2水翼推进运动单元子控制器………………………………………．14 2．3．3蹼翼运动单元子控制器……………………………………………．．19 2．4信息采集系统……………………………………………………………19 2．5软件控制系统设计………………………………………………………21 2．5．1主程序………………………………………………………………．21 2．5．2通讯协议……………………………………………………………．23 2．5．3人机界面……………………………………………………………．25 2．6实验研究…………………………………………………………………25 2．7本章小结…………………………………………………………………27 第3章水翼法推进协同机理研究……………………………………………．28 3．1引言………………………………………………………………………………………………28 3．2多翼协同运动机理分析…………………………………………………28
哈尔滨T程大学硕士学位论文 3.2.1四翼协同运动 1.29 3.2.2水翼协同运动 .31 3.2.3璞翼协同运动… 37 3.3水翼拍旋与位旋协同运动. .39 的 3.3.1拍旋与位旋协同运动机理分析 .39 3.3.2拍旋与位旋相位差调节.… 41 3.4本章小结… 43 第4章水翼法推进水动力性能研究 44 4.1引言 .44 4.2尾涡模型， 44 4.3水翼水动力计算 52 4.3.1计算步骤… 52 43.2计算方法验证… 57 4.4本章小结. 59 第5章水翼法推进实验研究 i.60 5.1]引言 60 5.2水翼推进运动单元实验. 60 5.3直航实验 62 5.3.1拍旋和位旋不同相位差直航实验 63 5.3.2水翼不同运动参数直航实验 65 5.4本章小结 70 结论 71 参考文献 73 攻读硕士学位期间发表的论文和取得的科研成果 80 尾 致 ,4481444H1iiH44H94B404
哈尔滨T程大学硕士学位论文 3．2．1四翼协同运动………………………………………………………．29 3．2．2水翼协同运动………………………………………………………．31 3．2．3蹼翼协同运动………………………………………………………．37 3．3水翼拍旋与位旋协同运动………………………………………………39 3．3．1拍旋与位旋协同运动机理分析……………………………………．39 3．3．2拍旋与位旋相位差调节……………………………………………．41 3．4本章小结…………………………………………………………………43 第4章水翼法推进水动力性能研究…………………………………………．44 4．1引言………………………………………………………………………………………………44 4．2尾涡模型…………………………………………………………………44 4．3水翼水动力计算…………………………………………………………52 4．3．1计算步骤……………………………………………………………．52 4 3．2计算方法验证………………………………………………………．57 4．4本章小结…………………………………………………………………．59 第5章水翼法推进实验研究……………………………………^…………．．60 5．1引言………………………………………………………………………………………………60 5．2水翼推进运动单元实验…………………………………………………60 5．3直航实验…………………………………………………………………62 5．3．1拍旋和位旋不同相位差直航实验…………………………………．63 5．3．2水翼不同运动参数直航实验………………………………………．65 5．4本章小结…………………………………………………………………70 结 论…………………………………………………………………………………………………71 参考文献…………………………………………………………………………73 攻读硕士学位期间发表的论文和取得的科研成果……………………………80 致 谢…………………………………………………………………………………………………8 1
哈尔滨工程大学硕十学位论文 第1章绪论 1.1引言 海洋蕴藏着丰富的资源，是全球生命支持系统一个必不可少的组成部分， 21世纪是海洋的世纪，海洋开发已经成为各国重要的战略目标。水下机器人 作为海洋开发的载体，在人类认识和开发海洋中发挥着重要的、不可替代的 作用。 螺旋桨推进作为水下机器人传统推进方式，在水下机器人的研究和应用 中发挥了重要作用。随着水下作业任务的复杂化，探索水下机器人非传统推 进方式，可为研究不同作业任务的水下机器人提供技术支撑。海洋生物经过 长时间的演变和进化，自然的优胜劣汰使其在水中的运动能力达到了极至， 具有灵活、高效、低噪等特点，其在游动速度和姿态控制等方面的能力也是 ,传统的螺旋桨推进方式所不具备的。基于仿生学的水下机器人技术研究已成 为该领域的热点问题之一川。 海洋生物具有多样化的游动方式，可粗略地分为摆动法、划动法、水翼 法和喷射法等)。水翼法是海龟等海洋生物的主要运动方式，该方法具有机 动性能高、噪声低等特点。水翼法推进从生物学角度融合了动物飞行和游动 两种运动，其有别于动物飞行的高频气动特性和鱼类游动的单驱动特性，扑 翼飞行和仿鱼推进的运动机理和载体实验研究方法，为水翼法推进技术研究 提供了重要参考。以海龟为生物原型研究水下机器人的水翼法推进机理，分 析理解仿生系统水翼推进操纵方式和水翼的水动力性能，对于探索微小型中 低速水下运载器新型驱动方式，降低其噪声，提高机动性能，具有重要研究 意义和实用价值。 1.2仿生推进理论研究现状 仿生推进理论研究是载体技术研究的基础，从仿鱼推进和仿翼推进两个 方面分析仿生推进理论现状
哈尔滨工程大学硕十学位论文 第1章绪论 1．1引言 海洋蕴藏着丰富的资源，是全球生命支持系统一个必不可少的组成部分， 21世纪是海洋的世纪，海洋开发已经成为各国重要的战略目标。水下机器人 作为海洋开发的载体，在人类认识和开发海洋中发挥着重要的、不可替代的 作用。 螺旋桨推进作为水下机器人传统推进方式，在水下机器人的研究和应用 中发挥了重要作用。随着水下作业任务的复杂化，探索水下机器人非传统推 进方式，可为研究不同作业任务的水下机器人提供技术支撑。海洋生物经过 长时间的演变和进化，自然的优胜劣汰使其在水中的运动能力达到了极至， 具有灵活、高效、低噪等特点，其在游动速度和姿态控制等方面的能力也是 传统的螺旋桨推进方式所不具备的。基于仿生学的水下机器人技术研究己成 为该领域的热点问题之一…。 海洋生物具有多样化的游动方式，可粗略地分为摆动法、划动法、水翼 法和喷射法等【21。水翼法是海龟等海洋生物的主要运动方式，该方法具有机 动性能高、噪声低等特点。水翼法推进从生物学角度融合了动物飞行和游动 两种运动，其有别于动物飞行的高频气动特性和鱼类游动的单驱动特性，扑 翼飞行和仿鱼推进的运动机理和载体实验研究方法，为水翼法推进技术研究 提供了重要参考。以海龟为生物原型研究水下机器人的水翼法推进机理，分 析理解仿生系统水翼推进操纵方式和水翼的水动力性能，对于探索微小型中 低速水下运载器新型驱动方式，降低其噪声，提高机动性能，具有重要研究 意义和实用价值。 1．2仿生推进理论研究现状 仿生推进理论研究是载体技术研究的基础，从仿鱼推进和仿翼推进两个 方面分析仿生推进理论现状